Robert Collins CSE454, PSU
Lecture 22: Stabilization
Robert Collins CSE454, PSU
Motivation
In the next two lectures, all our hard work slogging through the details of planar warping, transformation groups, least squares and RANSAC, will all become worth i

Robert Collins CSE486, Penn State
Lecture 23: Panoramic Mosaicing
Robert Collins CSE486, Penn State
Recall: Planar Mosaicing
Assumes scene is roughly planar. What if scene isnt planar? Alignment will not be good if significant 3D relief Ghosting
Robert Co

Robert Collins CSE486, Penn State
Lecture 24 Video Change Detection
Robert Collins CSE486, Penn State
Basics of Video
camera digitizer PC
Real-Time
pre-stored images
Offline
Frames come in 30 times per second. This is not much time to process each image.

Robert Collins CSE454, Penn State
Lecture 29: Structure from Motion
Robert Collins CSE454, Penn State
Structure from Motion
Given a set of flow fields or displacement vectors from a moving camera over time, determine: the sequence of camera poses the 3D s

Robert Collins CSE454, PSU
Lecture 30: Color and Light
not in textbook (sad but true)
Robert Collins CSE454, PSU
Physics of Light and Color
Light is electromagnetic radiation Different colors correspond to different wavelengths Intensity of each wavelengt

Robert Collins CSE454, PSU
Lecture 31: Skin Color
Robert Collins CSE454, PSU
Review: Light Transport
And then some reach an eye/camera and are measured.
Source emits photons
Photons travel in a straight line
They hit an object. Some are absorbed, some bou

Robert Collins CSE486, Penn State
Lecture 32: Object Recognition: SIFT Keys
Robert Collins CSE486, Penn State
Motivation
Want to recognize a known objects from unknown viewpoints.
find them in an image database of models
Robert Collins CSE486, Penn State

Robert Collins CSE486, Penn State
Overview* of Image Formation
Readings: T&V Section 1, Section 2.1-2.2
* We will see each concept again in more detail, later in the course
Robert Collins CSE486, Penn State
Recall: Digital Images
2D arrays (matrices) of n

Robert Collins CSE454, PSU
Lecture 3: Intensity Surfaces and Gradients
Robert Collins CSE454, PSU
Visualizing Images
Recall two ways of visualizing an image Intensity pattern 2d array of numbers
We see it at this level
Computer works at this level
Robert

Robert Collins CSE486, Penn State
Lecture 19: Planar Homographies
(with a side trip through transformation groups)
Robert Collins CSE486, Penn State
Recall: Summary of 2D Transformations
Robert Collins CSE486, Penn State
Summary of 2D Transformations
from

Robert Collins CSE454, PSU
Lecture 10: Introduction to Stereo
Reading: T&V Section 7.1
Robert Collins CSE454, PSU
Stereo Vision
Inferring depth from images taken at the same time by two or more cameras.
Robert Collins CSE454, PSU
Basic Perspective Project

Robert Collins CSE454, PSU
Lecture 12: LoG and Zero Crossings
Robert Collins CSE454, PSU
Todays Agenda
An alternate approach to finding edges, based on the second derivative (rather than the first deriv or gradient) Making a filter out of it - Laplacian o

Robert Collins CSE454, PSU
Lecture 13: Camera Projection I
Reading: T&V Section 2.4
Robert Collins CSE454, PSU
New point of view
In addition to being a device for measuring intensity (luminance) values. . your camera is also a device for measuring viewing

Robert Collins CMPEN454, PSU
Lecture 15: Generalized Stereo: Epipolar Geometry
Robert Collins CMPEN454, PSU
Generalized Stereo
Key idea: Any two images showing an overlapping view of the world can be treated as a stereo pair. . we just have to figure out

Robert Collins CSE454, PSU
Lecture 16: A Dynamic Programming Stereo Algorithm
Robert Collins CSE454, PSU
Recall: Disparity Space Image
The DSI for one row represents pairwise match scores between patches along that row in the left and right image.
Pixels